Tactile feedback interface device including display screen

ABSTRACT

A control device including a housing and a carrier moveable with respect to the housing in a first rotary degree of freedom. A first sensor senses the movement of the carrier and outputs a first control signal. A roller rotatably coupled to the carrier rotates with the carrier in the first degree of freedom and rotates independently of the carrier in a second rotary degree of freedom. A second sensor senses rotary motion of the roller and outputs a second control signal. Preferably, an arm member coupled between carrier and housing pivots about an axis. A third sensor, such as a switch, can be used to detect when the carrier has been pushed in a direction substantially orthogonal to a plane of rotation of the arm member. Force feedback can also be provided in the rotary degrees of freedom of the control device.

CROSS REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority of provisional applications ser.No. 60/067,382, filed Dec. 3, 1997 by Craig F. Culver, entitled “AnImproved Multi-Function Control with Feedback, ” and ser. No.60/067,381, filed Dec. 3, 1997 by Craig F. Culver, entitled “InteractivePanels for Instrument Control, ” both assigned to the assignee of thepresent application, and both of which are incorporated herein byreference.

BACKGROUND OF THE INVENTION

[0002] This invention relates generally to control devices, and moreparticularly to force feedback control devices.

[0003] Control devices can be used for a variety of different controltasks. A user can conveniently select or operate different functions andfeatures of a device using the control device. In some cases, thecontrol device allows a user to operate or interface with a deviceremotely, without having to operate controls located on the housing ofthe device itself. For example, signals can be sent from the remotecontrol device to the controlled apparatus. In addition, the controldevice preferably offers a more intuitive and easy-to-use way ofinterfacing with a device than using other inconvenient, bulky, orunintuitive controls.

[0004] Control devices can be implemented in a variety of forms. Inhand-held embodiments, it is desirable for control devices to belightweight and convenient to hold, and to include controls that arestraightforward to use, comfortable, and effective in controlling thefeatures or operation of a device. Typical control devices of the priorart, however, may not include all these features. For example, astandard joystick device may not be very convenient for use incontrolling functions since it either requires two hands to operated(one hand holding the device, the other hand operating the joystick), orit requires a table top or other surface on which to rest the joystick.Some attempts have been made to develop one-handed joysticks, but thesedevices often end up clumsy and ineffective. Similarly, gamepadcontrollers, commonly used to interface with video games provided bygame consoles, require the use of two hands and are thus inconvenient inmany applications.

[0005] In embodiments where a device is not hand-held, there is still aneed for a controller device having superior precision, ergonomics, andconvenience. Furthermore, such a device that can readily include forcefeedback functionality is also desirable.

SUMMARY OF THE INVENTION

[0006] The present invention provides a control device that allows auser to interface with an apparatus in a convenient and effectivemanner. The control device can also be provided with force feedback foradded functionality and efficiency.

[0007] More particularly, a control device of the present inventionincludes a housing and a carrier coupled to the housing and operative tomove with respect to the housing in a first rotary degree of freedom. Afirst sensor senses the movement of the carrier and outputs a firstcontrol signal. A roller rotatably coupled to the carrier rotates withthe carrier in the first degree of freedom and rotates independently ofthe carrier in a second rotary degree of freedom. A second sensor sensesrotary motion of the roller and outputs a second control signal.Preferably, an arm member is coupled between the carrier and thehousing, where the am member pivots about an axis and where the firstsensor senses rotation of the arm member. The roller rotates about anaxis that is parallel to a plane of rotation of the arm member. The armmember can be positioned in the housing, where the housing includes anaperture through which the carrier and roller are accessible to a userof the control device. Preferably, a third sensor is also included todetect when the carrier has been pushed in a direction substantiallyorthogonal to a plane of rotation of the arm member.

[0008] In another embodiment, force feedback functionality is preferablyincluded in the control device. For example, a first actuator ispreferably coupled to the arm and outputs a force on the arm in itsdegree of freedom. A second actuator can be coupled to the roller tooutput a force to the roller in its rotary degree of freedom. The firstand second actuators are controlled by first and second actuatorsignals. The control device interfaces with an apparatus; the apparatus,for example, can be a host computer that provides force feedback signalsto the control device based at least in part on the first and secondsensor signals received from the control device. For example, the hostcomputer can display a graphical environment, such as graphical userinterface or game environment, in which a user-controlled graphicalobject is displayed, such as a cursor, having a position determined bythe first and second sensor signals. Other graphical objects may also bedisplayed. In one embodiment, the first and second force feedbacksignals are determined at least in part based on an interaction of thecursor with a displayed graphical object.

[0009] A number of alternate embodiments of the control device are alsoprovided. A second roller can be coupled to the carrier and rotate withrespect to the carrier independently of the first roller. Another sensoris provided to sense rotary motion of the second roller. The secondroller can be oriented in the same direction as the first roller, or canbe oriented orthogonally or in other configurations. Furthermore, a beltcan be coupled between the first and second rollers which is accessibleto be contacted and moved by the user. A rotating member, such as acylinder or sphere, can be coupled to the housing and extend from abottom plate of the housing, such that the rotating member contacts aflat surface and rotates when the control device is moved over the flatsurface. The carrier can alternatively be coupled to the housing bycontact bearings which sit in tracks on the housing and allow thecarrier to move along the tracks.

[0010] The device and method of the present invention provide aninterface to an apparatus that provides greater control functionalityand convenience for the user. The arcuate or linearly moving carrierportion is easily moved by a user's thumb, providing horizontal controlover a cursor or other input. The rotatable wheel provided in thecarrier allows the same finger of the user to control vertical motion ofa cursor or control a different function of an apparatus. However, sincethe wheel rotates in a single position, the length of the carrier armneed not be adjusted greatly for differently-sized hands. Force feedbackmay also be added to the control device to provide the user with greatercontrol and to inform the user of options and selections through thesense of touch.

[0011] These and other advantages of the present invention will becomeapparent to those skilled in the art upon a reading of the followingspecification of the invention and a study of the several figures of thedrawing.

BRIEF DESCRIPTION OF THE DRAWINGS

[0012]FIG. 1a is a top plan view of one embodiment of a control deviceof the present invention;

[0013]FIG. 1b is a top plan view of the control device of FIG. 1a alsoincluding actuators for force feedback;

[0014]FIG. 2 is a side elevational view of the control device of FIG.1a;

[0015]FIGS. 3a and 3 b are top plan and side elevational views,respectively, of the control device of FIG. 1a being used by the thumbof a user;

[0016]FIGS. 4a and 4 b are top plan and side elevational views,respectively, of an alternate grip for the control device of FIG. 1a;

[0017]FIG. 5 is a partial top plan view of an alternate embodiment ofthe control device of the present invention including two alignedrollers;

[0018]FIG. 6 is a partial top plan view of an alternate embodiment ofthe control device of the present invention including two orthogonalrollers;

[0019]FIG. 7 is a partial top plan view of an alternate embodiment ofthe control device of the present invention including two orthogonalrollers having perpendicular axes of rotation;

[0020]FIG. 8 is a side elevational view of an alternate embodiment ofthe control device of the present invention including a belt routedaround two rollers;

[0021]FIG. 9 is a side elevational view of an alternate embodiment ofthe control device of the present invention including a cylinder forfrictionally engaging a flat surface;

[0022]FIG. 10 is a side elevational view of an alternate embodiment ofthe control device of the present invention including a sphere forfrictionally engaging a flat surface;

[0023]FIG. 11 is a partial top plan view of an alternate embodiment ofthe control device of the present invention including a carrier coupledto tracks by bearings;

[0024]FIG. 12 is a top plan view of an alternate embodiment of thecontrol device of the present invention including a display;

[0025]FIGS. 13a and 13 b are top plan and side elevational views,respectively, of an alternate table-top embodiment of the control deviceof FIG. 1a; and

[0026]FIG. 14 is a block diagram of a control system for the controldevice of the present invention.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0027]FIG. 1a is a top plan view of a first embodiment 10 of aninterface control device of the present invention. Control device 10includes a housing 12 and a moveable arm assembly 14. The housing 12 isintended to allow easy hand-held use of the control device. Thus,housing 12 is approximately of a size that will fit snugly in a user'shand and allow the user's thumb to reach the controlled portion of thearm assembly 14, as described in greater detail below. The edges ofhousing 12 are preferably rounded to allow comfortable use by the user.In other embodiments, the housing 12 need not be hand-held but can beused on a grounded surface (see FIGS. 13a and 13 b) or can be part of afixed panel, keyboard, computer or other device housing, or otherapparatus. Housing 12 includes a first end 16 a and a second end 16 b,where the second end l6 b is held away from the user and toward anapparatus interfaced with the device 10, if appropriate. Housing 12preferably has a bottom plate 18 a and a top plate 18 b, which arespaced apart by sidewalls (not shown) of the housing 12 to define aspace between the plates 18 a and 18 b.

[0028] Arm assembly 14 is rotatably coupled to the housing 12 betweenthe bottom plate 18 a and top plate 18 b. Assembly 14 includes an armmember 20 and a cylindrical roller 22. Arm member 20 is coupled tobottom plate 18 a and/or top plate 18 b at a first end and may pivotabout an axis A. A carrier portion 24 is coupled to the arm member 20and is exposed to the user through an opening 26 in the top plate 18 b.The carrier portion can be made as part of the arm member 20 or as aseparate piece coupled to the arm member. Carrier portion 24 preferablyhas an opening 28 in its center which holds cylindrical roller 22. Forexample, the roller 22 can be coupled to the carrier portion 24 by anaxle 30 which allows the roller 22 to rotate about an axis B.

[0029] The roller 22 is preferably cylindrical and may include texturesor other surface features to assist the user in creating frictionalcontact with the user's finger to turn the roller. For example, bumps,ridges, or other surface features can be provided, and/or a frictionalmaterial such as rubber can be included on the surface of the roller. Inother embodiments, rollers of other cross-sectional shapes can be used,such as octagonal, hexagonal, etc.

[0030] A first sensor 32 is coupled to the arm member 20 near axis A tomeasure the rotation of the arm assembly about axis A. The sensor 32 canbe a digital optical encoder, analog potentiometer, magnetic sensor,optical sensor (e.g. photodiode or photoresistor), or other type ofsensor than can detect rotary motion of the arm member 20 relative tothe housing 12. The first sensor 32 outputs a first raw sensor signalindicative of the motion of the arm member, and can be a relative sensoror an absolute sensor. For example, if a relative sensor is used, thefirst sensor 32 can output a signal indicating the amount of rotationsince the last detected position.

[0031] In one alternate embodiment, an optical sensor can be used asfirst sensor 32 and/or second sensor 34. In one type of optical encoder,optical fibers are used to conduct received light pulses to a set ofphotodetectors. Movement of a member over a striped pattern thusgenerates electrical motion signals. The moving elements of device 10may be coupled to a pattern member such as a code wheel or linearelement, where optical fibers are used for remote motion sensing.Optical fibers are well suited to the device 10 due to the flexibilityof the fibers, allowing the fibers to be routed from a moving opticalpickup point (in the swinging arm) to a fixed photodetector location,such as on a circuit board mounted to the housing 12 of the device 10.In such an embodiment, mechanically-driven sensors would not berequired. Alternatively, optical channels molded in and integral with asupport structure can be used with an optical encoder instead of opticalfibers. Such optical channel encoders are described in greater detail inapplication ser. No. 60/067,381, incorporated herein by reference.

[0032] A second sensor 34 is coupled to the axis 30 of the roller 22 todetect rotation of the cylindrical roller 22 about axis B. Sensor 34 canbe grounded to the carrier portion 24 to as to measure rotation of theroller 22 with respect to the carrier portion. Similar to the firstsensor 32, the second sensor 34 outputs a second raw sensor signalindicative of the rotation of the roller 22. The sensor 34 can be adigital sensor or analog sensor, and can be relative sensor or absolutesensor, similar to the first sensor 34.

[0033] Two axes of motion are preferably integrated in the controldevice 10. As shown in the top plan view of FIG. 1b, the arm assembly 14can be moved by the user to provide input signals to the apparatus withwhich the user is interfacing. The user can contact the carrier portion24 or the roller 22 with a finger and move the assembly left or rightabout the axis A using finger pressure. The carrier portion thus movesin a linear arcuate path. For example, in FIG. 1b, the user has movedthe assembly 14 in a direction from left to right, as indicated by arrow36. Preferably, stops are provided at both ends of the opening 26 tolimit the motion of the arm assembly 14. In alternate embodiments, theopening 26 can be made linear, and the motion of the carrier portion 24and roller 22 can be linear motion from one end to the other of theopening 26. In such an embodiment, roller bearings, sliding bearings, orother mechanisms can be used; for example, FIG. 11 shows an embodimentin which such movement can be provided.

[0034] The length of the arm member 20 can be varied in differentembodiments to accommodate differently-sized fingers or hands; in someembodiments, an adjustable arm member 20 can be provided that allows auser to adjust arm length (a larger opening 26 can be used toaccommodate different arm member lengths). However, it should be notedthat the roller 22 does not change its position along the arm member 20to provide an adjustable input signal. Thus, a single, convenient armlength for member 20 can be provided that allows the user's thumb toreach the roller for most hand sizes. The motion of the carrier in leftand right directions can also typically be accommodated by most handsizes.

[0035] In one preferred embodiment, this motion of arrow 36 controls themotion of a user-controlled graphical object, Such as a cursor displayedon a display screen, in a horizontal linear degree of freedom, i.e.along an X-axis. Although the movement of arm assembly 14 is rotationalabout axis A, the arm member 20 is sufficiently long to allow the userto perceive the motion of the assembly to be almost linear, thusallowing easy mapping of the assembly motion to linear horizontal cursormotion. The motion of the assembly 14 is preferably mapped to cursorposition according to a position control mapping, so that the positionof the assembly 14 in its degree of freedom directly corresponds to aposition of the cursor in the displayed degree of freedom. Thus, motionof the cursor to the left would stop at the left edge of the screenprecisely when the assembly 14 reached a left limit to its degree offreedom, and a similar relationship is provided at the right edge of thescreen and the right limit to the assembly 14. Alternatively, a ratecontrol mapping can be provided between assembly 14 and the controlledgraphical object. The rate control mapping is best provided when forcefeedback is implemented, as described below.

[0036] In one preferred embodiment, the control of a graphical objectsuch as a cursor by the control device 10 is provided in a graphicaluser interface (GUI) displayed by a host computer. The GUI includesseveral different objects, such as icons, pull down menus and menuitems, windows, scroll bars, graphical buttons, sliders, links (in a webpage) etc. The cursor can be controlled to manipulate and/or selectthese various graphical objects with the control device 10 of thepresent invention. In other embodiments, the motion of assembly 14 asshown by arrow 36 can control other motions of a cursor or othercontrolled graphical object, such as rotation or turning of a simulatedvehicle controlled by the user. In yet other embodiments, this motioncan control other functions or motions, such as the changing of a volumefor a stereo, the rotation of an apparatus set on a grounded pedestal,or the velocity of a controlled vehicle. A variety of electronic orcomputer apparatuses can be controlled by the device 10. For example,the controlled apparatus can be a home appliance such as a televisionset, a microwave oven or other kitchen appliances, a washer or dryer, anaudio home stereo component or system, a home computer, a set top box orweb browser appliance for a television, a video game console, a homeautomation system (to control such devices as lights, garage doors,locks, appliances, etc.), a telephone, photocopier, model vehicle, toy,a video or film editing or playback system, etc. Device 10 can bephysically coupled to the apparatus, or the panel 12 can be physicallyremote from the device 10 and communicate with the device using signalstransferred through wires, cables, wireless transmitter/receiver, etc.

[0037] In one embodiment, force feedback is provided in the degree offreedom of assembly 14 using actuators. For example, an actuator 38 canbe grounded to the housing 12 and can output forces on the arm member 20in the rotary degree of freedom about axis A. Actuator 38 can be anactive actuator that outputs forces in the degree of freedom and canmove the assembly 14 if conditions allow; active actuators include a DCmotor, voice coil actuator, moving magnet actuator, hydraulic orpneumatic actuator, torquer, etc. Alternatively, actuator 38 can be apassive actuator that does not output active forces in the degree offreedom but provides resistance to motion when so controlled, such asmagnetic particle brakes, hydraulic or pneumatic passive brakes,friction members, friction drive, electromagnetic coil wound about anferrous core, etc.

[0038] The use of force feedback in the degree of freedom of the armassembly 14 can provide a variety of functions and greater ease of usefor the user. For example, jolt forces or bumps can be output on the armassembly 14 when the controlled cursor moves over a particular object,such as an icon or window border. Or, attractive forces can assist theuser in moving the cursor onto a target such as an icon, menu item, orlink in a web page, and resist motion away from the target once thecursor has moved onto the target. Other forces include detents, springforces, repulsive forces, textures, damping forces, vibrations or otherperiodic forces, or obstruction forces. Such functionality is describedin greater detail in co-pending patent application ser. No. 08/571,606,incorporated herein by reference. Furthermore, a rate control mappingbetween the assembly 14 and a controlled object or function can beprovided, where the amount of movement away from an origin positionindicates a magnitude of input. For example, the origin position of theassembly 14 can be designated to be at the center of the degree offreedom of the arm assembly 14. A spring force is output that resistsmotion of the arm assembly away from the origin position, where thegreater the deviation from the origin, the greater the resistive forcethat biases the assembly back to the origin. The amount of deviationfrom the origin is directly to proportional to a magnitude of input.Thus, if the user is controlling the velocity of a cursor, the greaterthe assembly 14 is moved from the origin, the faster the cursor willmove. The direction of the assembly from the origin controls thedirection of the object or function. Functions such as motion, volume,velocity, or any parameter that can be changed can be controlledaccording to a rate control mapping. Furthermore, a rate control mappingand a position control mapping can both be used, as desired by the userand/or as selected by a host computer or other apparatus. Such dualfunctionality is described in greater detail in Patent 5,825,308,incorporated herein by reference.

[0039] Motion of the cylindrical roller 22 about axis B, as shown byarrow 40, preferably provides a separate sensor signal and thus controlsa separate function or motion of the controlled apparatus or object. Theuser preferably contacts the roller with a finger, such as the thumb,and rolls the roller in the desired direction. While resting on theroller 22, the user's finger can also contact the surface of the carrierportion 24, as well as the top edge 25 of the housing 12. This creates africtional coupling between the finger and these three surfaces, whichincreases control stability. The roller 22 can be provided with a stopso that it rotates for a certain range, and then can no longer berotated in that direction. Alternatively, the roller 22 can be providedwith no stops so as to allow the roller to rotate freely in eitherdirection with no limits.

[0040] The roller 22 can control a variety of functions or motion. Forexample, in one preferred embodiment, the rotation of roller 22 controlsthe position of a displayed graphical object, such as a cursor, in avertical linear degree of freedom, i.e. along a Y-axis. In a positioncontrol mapping, the position of the roller 22 in its degree of freedomis directly correlated to a position of the cursor in the verticallydisplayed degree of freedom. Such an embodiment can include one or morestops for roller 22 so that when the roller reaches a limit, the cursorhas correspondingly reached the top or bottom edge of the screen. A ratecontrol mapping can also be provided, which is more suitable for theforce feedback embodiment as described below. Alternatively, the motionof roller 22 can control other motions of a cursor or other controlledgraphical object, such as rotation or turning of a simulated vehiclecontrolled by the user. In yet other embodiments, the roller motion cancontrol other functions or motions, such as the changing of volume for astereo, the rotation of an apparatus set on a grounded pedestal, or thevelocity of a controlled vehicle.

[0041] In one embodiment, force feedback is provided in the degree offreedom of roller 22 using an actuator 42. For example, actuator 42 canbe grounded to the carrier portion 24, coupled to the axle 30 of theroller 22 by a belt or other transmission, and output forces on theroller 22 in the rotary degree of freedom about axis B. Actuator 42 canbe an active actuator that outputs forces in the degree of freedom, or apassive actuator that provides resistance to motion, as described above.

[0042] The force feedback on roller 22 can be used in similar ways asthe forces applied to arm assembly 14, described above. For example,detents, jolts, spring forces, attractive or repulsive forces, textures,damping forces, vibrations or other periodic forces, or obstructionforces can be output on the roller. Furthermore, a rate control mappingis preferably implemented using spring forces as described above withreference to the arm assembly 14. For example, the roller 22 has adesignated origin position, and a deviation of the roller from theorigin, in opposition to the spring forces, causes a function or motionto be controlled based on the amount of deviation from the origin.Furthermore, other force sensations that can be output on roller 22include forces that simulate ends of travel for the roller or inform theuser that the end of travel has been reached. For example, as the userrotates the knob in one direction, the end of the adjusted value rangeis reached. If there is no hard stop on the roller at this position, theactuator can be controlled to output an obstruction force to prevent orhinder the user from rotating the roller further in that direction.Alternatively, a jolt force can be output that is stronger in magnitudethan normal detents, which informs the user that the end of the adjustedrange has been reached. Other force sensations that can be applied to arotatable knob-like control, such as a roller 22, are described inco-pending patent application ser. No. 09/______ , by Levin et al.,filed Oct. 26, 1998, entitled, “Control Knob with Multiple Degrees ofFreedom and Force Feedback”, assigned to the same assignee as thepresent invention, and which is incorporated herein by reference.

[0043] The actuators 38 and 42 are preferably controlled with driversignals from a microprocessor or other controller. A suitable controlarchitecture is shown with respect to FIG. 14, below.

[0044] In some embodiments of the control device 10, the arm assembly 14can be sensitive to inertial forces, which could cause undesiredmovement of the arm assembly in particular environments, such as in amoving vehicle. The sensitivity to inertia can be reduced or eliminatedby coupling a counterweight to the arm assembly, For example, a pair ofspur gears can be used, where one gear is coupled to the arm assembly,and the other gear is interlocked with the first gear and is coupled toa different arm member having a counterweight attached to its end. Boththe arm assembly and the counterweight arm can be of approximately equalweight. The counterweight arm can be positioned underneath the armassembly and can pivot in a plane substantially parallel to the plane ofrotation of arm assembly 14. The counterweight moves in an oppositedirection to the arm assembly, thereby cancelling inertial movement ofthe arm assembly.

[0045]FIG. 2 is a side elevational view of the control device 10 shownin FIG. 1a. As shown, the arm assembly 14 preferably rotates a smalldistance above the bottom plate. A pressure switch 44 is provided underthe carrier portion 24 of the arm assembly 14. When the user exertsdownward finger pressure on the carrier portion 24 or the roller 22, thecarrier portion 24 flexes down to engage and change the state of theswitch.

[0046] Preferably, the engagement of the switch 44 is the equivalent ofa “mouse click” in a standard mouse input device, or a trigger press ina gaming controller. Thus, when the user controls a cursor to acquire atarget such as a graphical icon, the user can then push on the roller 22or carrier portion 24 to engage switch 44 and select the icon or executea program associated with the icon. Furthermore, the roller 22 can bemoved while the carrier portion 24 is held in an engaged position withswitch 44 to allow “dragging” of graphical objects such as windows andicons within the GUI. Switch 44 can be implemented as other types ofswitches in other embodiments, for example an optical switch (forexample, as described in co-pending application 60/067,381), magneticswitch, or other type of switch.

[0047]FIGS. 3a and 3 b are top plan and side elevational views,respectively, of a user operating the control device 10 with a finger.The user preferably uses a thumb to rotate the cylinder 22 and move thearm assembly left and right to control the X- and Y-motion of acontrolled graphical object, or adjust the values for other functions ormovement. The fingers of the user are preferably wrapped around the sideand end at the bottom surface of the device 10 to hold the devicecradled in the hand. In alternate embodiments, the user can use thecontrol device with two hands, where one hand moves the roller/arm andthe other hand manipulates other controls on the device, e.g. buttons,switches, etc. provided on other areas of the housing 12. In yet otherembodiments, a two handed control device 10 can be provided, where theuser grasps an extension to the housing past the roller with one handand manipulates the roller motion with the other hand.

[0048] Using the thumb to control positioning functions contributes tosuperior ergonomics in the control device 10 of the present invention.When a user traces his or her thumb across the tips of the otherfingers, every joint in his or her hand moves in concert to facilitatethe thumb's motion. The opposed position of a thumb relative to theother fingers is utilized by the control device 10 to achieve acomfortable and natural interface. Other advantages of a thumb controland a hand-held control device 10 are described in Patent No. 5,666,138,assigned to assignee of the present application, and incorporated hereinby reference. Other features in that patent can be applied to thepresent invention as well. In addition, a cylindrical control havinglinear motion is described in Patent Nos. 4,712,101; 4,724,715;4,823,634; and 5,235,868, which are incorporated herein by reference.

[0049]FIGS. 4a and 4 b are top plan and side elevational views,respectively, of an alternate embodiment 10' of the control device 10,in which a molded hand grip is provided for the device. An arm assembly14 and roller 22 are provided, which function similarly to the samecomponents in the control device 10. The device includes a housing 50and a grip 52. In some embodiments, the housing 50 can be moved relativeto the grip about axis A to allow the player to adjust the relativepositions of the grip and housing to a more convenient position tooperate the device 10'. The grip preferably includes moldings 54 whichare shaped to fit the user's fingers and provide a comfortable grip ofthe device. Furthermore, the underside of grip 52 can also include abutton 56 which is conveniently accessible to the user's fingers. Insome embodiments, this button 56 can be provided in addition to theswitch 44 to provide additional input.

[0050]FIG. 5 is a top plan view of an alternate embodiment 60 of thecontrol device 10, in which two rollers 62 and 64 are provided on thecarrier portion 24 of the arm assembly 14. Each roller 62 and 64 isindependently rotatable from the other roller and preferably provides aseparate input signal to a computer or other apparatus. Thus, eachroller preferably is coupled to a dedicated sensor (not shown). In theembodiment shown, roller 62 is rotatable about axis D, and roller 64 isrotatable about axis E (axes D and E may be coincident in someembodiments). The control device thus provides three separate sensorsignals: one from each of the rollers 62 and 64, and a third from theleft-right motion of arm assembly 14. The cylinders 62 and 64 can bepositioned in separate apertures in the carrier portion 24, as shown, ormay be positioned on the same axle directly side-by-side or separated bya ridge or groove.

[0051] One example of a control setup for the control device 60 allowsone roller to control X-axis movement of a graphical object, theleft-right motion of the arm assembly to control Y-axis movement, andthe other roller to control Z-axis movement, thus allowing threedimensional manipulation of objects or adjustment of values. In analternate embodiment, the second roller 62 or 64 can be placed so thatits axis of rotation is parallel to the axis of rotation of the otherroller, e.g. one roller behind the other roller. Also, the second rollercan be placed in other areas of arm 20, such as near the axis ofrotation A so that the second roller still rotates with the arm; or onthe housing near the axis A so that the second roller does not rotatewith the arm.

[0052]FIG. 6 is a top plan view of an alternate embodiment 70 of thecontrol device 10, in which two rollers are provided on the carrierportion 24 at different orientations. A first roller 72 is positioned torotate about axis F, which is positioned approximately parallel to atangential orientation to the rotation of the arm assembly about axis A.A second roller 74 is positioned to rotate about axis G, which ispositioned approximately radially to the rotation of the arm assemblyabout axis A and approximately orthogonally to the orientation of axisF. Similar to the embodiment of FIG. 5, each roller 72 and 74 ispreferably provided with its own sensor (not shown) so that independentinput signals may be provided based on rotation of each roller. In oneembodiment, the roller 72 can provide an input signal to control anobject or function similar to the roller 22, while the roller 74 canprovide an additional control feature for another function or value,such as movement in a third degree of freedom or axis. Alternatively,roller 74 might control coarse X-axis motion of the controlled object,where arm assembly motion provides fine X-axis control (or the roller 74can control fine motion while the arm assembly controls coarse motion).This can allow X-axis control of a graphical object past the physicallimits to motion of the arm assembly 14.

[0053]FIG. 7 is a top plan view of an alternate embodiment 80 of thecontrol device 10, in which a first roller 82 is provided in the carrierportion 24 as described above, and where the carrier portion 24 alsoincludes a wheel 84. Roller 82 rotates about axis H, while wheel 84rotates about axis I that is positioned approximately perpendicular tothe plane of rotation of arm assembly 14 about axis A. Roller 82 andwheel 84 preferably provide independent input signals to a controlledapparatus, and thus are each detected by an individual sensor (notshown). As described with reference to FIG. 6, the roller 82 can providethe control functionality of roller 22 as described with reference toFIG. 1, and the wheel 84 can provide additional control functionality,such as coarse or fine control of X-axis movement or other movement,control of movement in a third degree of freedom, adjustment of adifferent value, etc. Wheel 84 is preferably a cylinder that provides asufficient height to allow the user to comfortably engage thecircumferential surface of the wheel. The user preferably engages wheel84 on either side with a thumb, depending on which of the user's handsoperates the control device 80.

[0054]FIG. 8 is a side elevational view of another embodiment 90 of thecontrol device 10. In this embodiment, the roller 22 has been replacedwith a belt assembly 92. Assembly 92 can be positioned in arm 20 or incarrier portion 24. A belt 94 is wrapped around two rollers 96 and 98 sothat the user may cause the belt to travel around the rollers byengaging the belt with a finger and moving the belt toward the back orfront of the device 10. The rollers 96 and 98 can be coupled to the armmember 20 by axles, similarly to roller 22. The belt 94 may be made of africtional, stretching material such as rubber or the like, and canalternatively be provided with teeth that engage teeth in roller 96and/or roller 98. Only one sensor need be provided to detect the motionof either roller 96 or roller 98. The sensor can be coupled to therotating shaft of one of the rollers to detect its rotation.Alternatively, an optical sensor can be positioned to detect the passageof stripes or other marks that are printed on the belt, and thus measurethe distance that the belt is moved. In some embodiments, an actuatorcan be coupled to either one of the rollers 96 or 98 to provide forcesin the degree of freedom of movement of the belt. The movement of thebelt 94 can be used to control, for example, the Y-axis motion of acontrolled graphical object, or other motion or value. Furthermore,additional rollers can be included in arm assembly 14 in addition to thebelt assembly 92, as shown in the embodiments of FIGS. 5-7.

[0055]FIG. 9 is a side elevational view of an alternate embodiment 100of control device 10 in which the device 100 may be moved similarly to amouse to provide additional input signals to a computer system or otherapparatus. A cylindrical rotatable wheel 102 is preferably provided nearthe front of the device 100 and extends out of the bottom panel 18 a sothat it may contact a surface 104. The wheel 102 preferably rotatesabout an axis C when the control device 100 is pushed across surface 104by a user. A sensor (not shown) is preferably used to detect the motionof wheel 102, similar to the sensor 34 used with roller 22. Thus, theuser may provide a third input signal to a computer or other apparatusby moving the device 100 in a desired direction. This motion is isolatedfrom the other inputs based on roller 22 and arm assembly 14 motion,since the wheel 102 is moved by movement of the arm and hand of theuser, not the finger resting on the carrier portion 24 or roller 22.

[0056] The wheel 102 can facilitate forward and backward motion of thecontrol device 100 while restricting left and right motion. The inputfrom the wheel 102 can be used to control a third axis of movement for acontrolled graphical object or entity, or can control some other value,such as velocity, volume, etc. Furthermore, the wheel 102 can beprovided with an actuator in an alternate embodiment to provide forcefeedback in the degree of freedom of motion of the control device 100.In an alternate mouse embodiment, the left and right motion of the armassembly 14 can be used to move a cursor along the horizontal axis,while the forward and back motion of the device 10 (detected by wheel102) can be used to move the cursor along the vertical axis. Thisembodiment can be useful where there is not enough space to move theentire device to the left and right. The roller 22 in such an embodimentcan be used for z-movement of the cursor or for a function not relatedto movement of the cursor.

[0057] In addition, the control device 100 can be provided withadditional buttons, for example, on the top plate 18 b to allowadditional input signals. Switch 44 can be actuated similarly to theembodiment shown in FIG. 2, or alternatively, switch 44 can be providedas a button or switch on the bottom surface of bottom plate 18 a so thata “mouse click” can be actuated by pressing downward on a switch on therear of the control device, where the fingertips of the user arelocated. In other embodiments, wheel 102 can be oriented in anorthogonal direction to the direction shown in FIG. 9, so that thesensor for wheel 102 reads motion of the device 100 in a left-rightdegree of freedom. In yet other embodiments, the wheel 102 can bereplaced by a ball or other spherical object; this allows two additionalsignals to be output by the control device. The control device couldthus be moved in two planar dimensions similar to a mouse, and controlmovement or values in a similar fashion. This is shown in FIG. 10,below.

[0058]FIG. 10 is a top plan view of a different embodiment 110 ofcontrol device 10 in which a ball or sphere 112 is included at the backportion of the control device 110 to provide mouse-like functionality.Ball 112 can be held in place by multiple rollers, similar to standardmouse input devices, where two of the rollers are coupled to sensors toprovide input signals for the horizontal movement and vertical movement,respectively, of the control device 110 on a surface. In a differentembodiment, control device 110 can be provided with a wheel, similar todevice 100, to input control signals for only one degree of freedom ofmovement (forward-back motion or left-right motion).

[0059]FIG. 11 is a top plan view of a different embodiment 120 of thecontrol device 10 of the present invention, in which ball bearings areprovided to allow the carrier portion 24 to move left and right in theopening 26 of the housing 12. Housing 12 preferably includes tracks 122in the edges of opening 26, in which are seated ball bearings 124 whichare rotatably coupled to the carrier portion 24. The ball bearings rollwithin the tracks as the carrier portion 24 is moved left or rightwithin the opening 26, such that minimal friction is provided and smoothmovement obtained. Thus, in such an embodiment, the arm member 20 is notrequired to permit movement of the carrier portion 24. In otherembodiments, sliding bearing surfaces can be used; however, suchbearings tend to introduce greater friction in the movement of theportion 24. The opening 26 and tracks 22 may be curved as shown in FIG.11, or alternatively may be straight. A roller 22 or any othercombination of rollers or wheels as described herein can be provided inthe carrier portion 24.

[0060]FIG. 12 is a top plan view of a different embodiment 130 of thecontrol device of the present invention, in which a local display screen132 is coupled to the housing of the control device. Screen 132 candisplay information either stored in memory local to the control device10, or information received from an apparatus interfaced with thecontrol device 130, such as a host computer or other device. Forexample, graphical and textual information can be displayed to assistthe user in determining functions of the control device as related tothe current program running on the host computer. In one example, as theuser controls a displayed cursor over menu selections, informationrelated to the menu selections from the host computer is displayed onthe local display 132. In other embodiments, a larger display screen canbe included to provide a self-contained, portable computer or gamedevice, having graphical and textual images displayed thereon. Thedisplay screen 132 can be any of a variety of types of display devices,including LCD display, LED display, plasma display, etc. In someembodiments, display 132 can include a touch-sensitive surface to allowa user to touch displayed images directly on the display to select thoseimages and an associated setting or function.

[0061]FIGS. 13a and 13 b are top plan and side elevational views,respectively, of an alternate embodiment 150 of a control device of thepresent invention. Control device 150 includes a base 152 and an armassembly 154. Base 152 rests on a stable surface such as a tabletop. Thearm assembly 154 can rotate with respect to the base 152 about an axisJ. Preferably, stops 156 are included to limit the rotation of the armassembly to left and right positions. The arm assembly 154 includes aroller 158 which can be rotated about an axis K and provide an inputsignal as described in the embodiments above. Additional rollers canalso be included that can provide additional input signals. Furthermore,the arm assembly 154 can also include a fine adjustment wheel 160. Thiswheel can be similar to the wheel 84 described above with respect toFIG. 7. Alternatively, wheel 160 can physically rotate the arm assembly154 about axis J when the wheel is rotated. This can be accomplished,for example, by providing a rotatable contact member 162 that contacts asurface of the base 152 and rotates when the arm assembly 154 isrotated. Contact member 162 can be connected to wheel 160 so that whenthe wheel 160 is rotated, the contact member also rotates against thebase 152 and forces the arm assembly to move. Buttons 164 can beincluded to provide additional input signals when pressed by a user.

[0062] When the device 150 is used by the user, the user preferablyplaces his or her hand so that the index and middle fingers arepositioned on the arm assembly and the palm of the hand is near the axisJ. The index and middle fingers are preferably touching both the roller158 and the base surface 166 to provide stability. The wheel 160 and thebuttons 164 on the left side can be manipulated by the user's thumb(assuming the right hand is being used), while the buttons on the rightcan be manipulated by the user's ring and pinky fingers.

[0063]FIG. 14 is a block diagram illustrating an electromechanicalsystem 200 suitable for user with the control device of the presentinvention. A force feedback system including many of the belowcomponents is described in detail in co-pending patent application ser.No. 09/049,155, filed Mar. 26, 1998, and Patent No. 5,734,373, which areboth assigned to the assignee of the present invention and incorporatedby reference herein in their entirety.

[0064] In one embodiment, device 10 includes an electronic portionhaving a local microprocessor 202, local clock 204, local memory 206,sensor interface 208, and actuator interface 210.

[0065] Local microprocessor 202 is considered “local” to device 10,where “local” herein refers to processor 202 being a separatemicroprocessor from any other microprocessors, such as in a controllinghost computer or other apparatus 218, and refers to processor 202 beingdedicated to force feedback and/or sensor I/O for the device 10. Inforce feedback embodiments, the microprocessor 202 reads sensor signalsand can calculate appropriate forces from those sensor signals, timesignals, and force processes selected in accordance with a host command,and output appropriate control signals to the actuator. Suitablemicroprocessors for use as local microprocessor 202 include the 8X930AXby Intel, the MC68HC711E9 by Motorola and the PIC16C74 by Microchip, forexample. Microprocessor 202 can include one microprocessor chip, ormultiple processors and/or co-processor chips, and can include digitalsignal processor (DSP) functionality. Also, “haptic accelerator” chipscan be provided which are dedicated to calculating velocity,acceleration, and/or other force-related data. Alternatively, fixeddigital logic and/or state machines can be used to provide similarfunctionality to microprocessor 202.

[0066] A local clock 204 can be coupled to the microprocessor 202 toprovide timing data, for example, to compute forces to be output byactuator 70. Local memory 206, such as RAM and/or ROM, is preferablycoupled to microprocessor 202 in interface device 10 to storeinstructions for microprocessor 202, temporary data, and other data.Display 132 can be coupled to local microprocessor 202 in someembodiments. Alternatively, a different microprocessor or othercontroller can control output to the display 132.

[0067] Sensor interface 208 may optionally be included in device 10 toconvert sensor signals to signals that can be interpreted by themicroprocessor 202. For example, sensor interface 208 can receivesignals from a digital sensor such as an encoder and convert the signalsinto a digital binary number. An analog to digital converter (ADC) canalso be used. Such circuits, or equivalent circuits, are well known tothose skilled in the art. Alternately, microprocessor 202 can performthese interface functions. Actuator interface 210 can be optionallyconnected between the actuators 38 and 42 and microprocessor 202 toconvert signals from microprocessor 202 into signals appropriate todrive the actuators. Actuator interface 210 can include poweramplifiers, switches, digital to analog controllers (DACs), and othercomponents, as well known to those skilled in the art. Actuatorinterface 210 circuitry can also be provided within microprocessor 202or in the actuators.

[0068] A power supply 212 call be coupled to actuators 38 and 42 and/oractuator interface 210 to provide electrical power. In a differentembodiment, power can be supplied to the actuators and any othercomponents (as required) by an interface bus. Power can also be storedand regulated by device 10 and thus used when needed to drive theactuators.

[0069] Sensors 32 and 34 sense the position, motion, and/or othercharacteristics of arm assembly 14 and roller 22 along one or moredegrees of freedom and provide signals to microprocessor 202 includinginformation representative of those characteristics. A single compoundsensor can be used for multiple degrees of freedom. Examples of sensorssuitable for sensors 32 and 34 include optical encoders, analog sensorssuch as potentiometers, Hall effect magnetic sensors, optical sensorssuch as a lateral effect photo diodes, tachometers, and accelerometers.Furthermore, both absolute and relative sensors may be used.

[0070] In those embodiments including force feedback, actuators 38 and42 are provided to transmits forces to arm assembly 14 and roller 22 inresponse to signals output by microprocessor 202 or other electroniclogic or device, i.e., the actuators are “electronically-controlled.”The actuators 38 and 42 produce electronically modulated forces whichmeans that microprocessor 202 or other electronic device controls theapplication of the forces. In some embodiments, additional actuators canalso be provided for other controls on device 10 (such as buttons,gamepad, etc.) or degrees of freedom of arm assembly 14. Actuators 38and 42 can be active actuators, such as linear current control motors,stepper motors, pneumatic/hydraulic active actuators, a torquer (motorwith limited angular range), voice coil actuators, etc.; or passiveactuators, such as magnetic particle brakes, friction brakes, orpneumatic/hydraulic passive actuators. In some embodiments,sensor/actuator pair transducers can be used.

[0071] In some embodiments, a drive transmission such as a capstan drivemechanism can be used to provide mechanical advantage to the forcesoutput by actuators 14 and/or 22. Some examples of capstan drivemechanisms are described in patent No. 5,731,804, incorporated herein byreference. Alternatively, a belt drive system, gear system, or othermechanical amplification/transmission system can be used.

[0072] Other input devices 214 can be included in control device 10 andsend input signals to microprocessor 202. Such input devices can includebuttons provided on various locations of housing 12 and/or carrierportion 24, used to supplement the input from the arm assembly androller 22. Also, dials, switches, voice recognition hardware (e.g. amicrophone, with software implemented by microprocessor 202), or otherinput mechanisms can be used. Furthermore, a safety or “deadman” switch216 can optionally be included in those implementations providing forcefeedback. The safety switch prevents forces from being output when theuser is not contacting the roller 22 or carrier portion 24, and toprevent these components from moving on their own when the user is nottouching them. The safety switch can detect contact of a user's digit(finger, thumb, etc.) with the components using a sensor such as acapacitive sensor or resistive sensor, pressure sensor, optical sensor,etc.

[0073] Controlled apparatus 218 is preferably included to communicatewith local microprocessor 202 or other electronic components of controldevice 10. Microprocessors 202 and 218 are preferably coupled togetherby a bi-directional bus 220. Additional electronic components may alsobe included for communicating via standard protocols on bus 220. Thesecomponents can be included in device 10 or another connected device. Bus220 can be any of a variety of different communication busses. Forexample, a bi-directional serial or parallel bus, a wireless link, or auni-directional bus can be provided.

[0074] Controlled apparatus 218 can be any of a variety of devices,including a host computer, appliance, or other device as described withreference to FIG. 1a. Microprocessors 202 and apparatus 218 can exchangeinformation as needed to facilitate control of various systems, outputevent notifications to the user, etc. For example, apparatus 218 can bea host computer including a microprocessor that commands the localmicroprocessor 202 to output force sensations by sending host commandsto the local microprocessor. The host computer can be a personalcomputer, workstation, video game console, or other computing or displaydevice, set top box, “network-computer”, etc. Besides a microprocessor,the host computer preferably includes random access memory (RAM), readonly memory (ROM), input/output (I/O) circuitry, and other components ofcomputers well-known to those skilled in the art. The host computer canimplement a host application program with which a user interacts usingcontrol device 10 and/or other controls and peripherals. The hostapplication program can be responsive to signals from control device 10such as the motion of the arm or knob, or button presses. In forcefeedback embodiments, the host application program can output forcefeedback commands to the local microprocessor 202, using, for example, aforce feedback API of the host computer, such as [-Force from ImmersionCorporation. In a host computer embodiment or other similar embodiment,microprocessor 202 can be provided with software instructions to waitfor commands or requests from the host computer, parse/decode thecommand or request, and handle/control input and output signalsaccording to the command or request.

[0075] For example, in one force feedback embodiment, a host computercan provide low-level force commands over bus 220, which microprocessor202 directly transmits to the actuators. In a different force feedbacklocal control embodiment, the host computer provides high levelsupervisory commands to microprocessor 202 over bus 220, andmicroprocessor 202 decodes/parses the commands and manages low levelforce control loops to sensors and actuators in accordance with the highlevel commands and independently of the host computer. In the localcontrol embodiment, the microprocessor 202 can independently processsensor signals to determine appropriate output actuator signals byfollowing the instructions of a “force process” that may be stored inlocal memory 206 and includes calculation instructions, formulas, forcemagnitudes (force profiles), and/or other data. The force process cancommand distinct force sensations, such as vibrations, textures, jolts,or even simulated interactions between displayed objects. Such operationof local microprocessor in force feedback applications is described ingreater detail in Patent 5,734,373, previously incorporated herein byreference.

[0076] In an alternate embodiment, no local microprocessor 202 isincluded in interface device 10, and a remote microprocessor inapparatus 218 controls and processes all signals to and from thecomponents of interface device 10. Or, hardwired digital logic in device10 can perform any input/output functions to the device 10.

[0077] While this invention has been described in terms of severalpreferred embodiments, there are alterations, modifications, andpermutations thereof which fall within the scope of this invention. Itshould also be noted that the embodiments described above can becombined in various ways in a particular implementation. Furthermore,certain terminology has been used for the purposes of descriptiveclarity, and not to limit the present invention. It is thereforeintended that the following appended claims include such alterations,modifications, and permutations as fall within the true spirit and scopeof the present invention.

What is claimed is:
 1. A control device comprising: a housing; a carriercoupled to said housing and operative to move with respect to saidhousing in a first rotary degree of freedom; a first sensor coupled tosaid carrier and operative to sense said movement of said carrier, saidfirst sensor outputting a first control signal; a roller rotatablycoupled to said carrier such that said roller rotates with said carrierabout said first rotary degree of freedom, said roller operative torotate with respect to said carrier in a second rotary degree offreedom; and a second sensor coupled to said roller and operative tosense rotary motion of said roller in said second rotary degree offreedom, said second sensor outputting a second control signal.
 2. Acontrol device as recited in claim 1 further comprising an arm membercoupled between said carrier and said housing, said arm member rotatablycoupled to said housing, wherein said first sensor senses rotation ofsaid arm member.
 3. A control device as recited in claim 2 wherein saidarm member is positioned in said housing and wherein said housingincludes an aperture through which said carrier and said roller areaccessible to a user of said control device.
 4. A control device asrecited in claim 2 further comprising a third sensor coupled to saidhousing, said third sensor detecting when said carrier has been pushedin a direction substantially orthogonal to a plane of rotation of saidarm member.
 5. A control device as recited in claim 2 wherein saidroller is operative to rotate about an axis that is parallel to a planeof rotation of said arm member.
 6. A control device as recited in claim5 wherein said roller is a first roller, and further comprising: asecond roller rotatably coupled to said carrier and operative to rotatewith respect to said carrier independently of said first roller, a thirdsensor coupled to said third roller and operative to sense rotary motionof said third roller, said third sensor outputting a third controlsignal.
 7. A control device as recited in claim 2 wherein said roller isa first roller, and further comprising a second roller rotatably coupledto said carrier and operative to rotate with respect to said carrier,and a belt coupled between said first roller and said second roller,said belt being accessible to contact by said user.
 8. A control deviceas recited in claim 2 further comprising a rotating member coupled tosaid housing and extending from a bottom plate of said housing, suchthat said rotating member contacts a flat surface and rotates when saidcontrol device is moved over said flat surface.
 9. A control device asrecited in claim 1 wherein said carrier is coupled to said housing bycontact bearings which sit in tracks on said housing and allow saidcarrier to move along said tracks.
 10. A control device as recited inclaim 1 wherein said roller is provided within an aperture of saidcarrier such that a surface of said carrier surrounds all sides of saidroller.
 11. A control device as recited in claim 1 further comprising: afirst actuator coupled to said arm member and operative to output aforce on said carrier in said degree of freedom of said carrier; and asecond actuator coupled to said roller and operative to output a forceon said roller in said rotary degree of freedom.
 12. A control device asrecited in claim 1 wherein said first sensor and said second sensor areoptical sensors.
 13. A force feedback control device in communicationwith a host computer implementing a graphical environment, the forcefeedback control device comprising: a housing; an arm rotatably coupledto said housing and operative to move with respect to said housing in adegree of freedom; a first sensor coupled to said arm and operative tosense said movement of said arm, said first sensor outputting a firstcontrol signal; a first actuator coupled to said arm and operative tooutput a force to said arm in said degree of freedom, said firstactuator being controlled by a first actuator signal; a roller rotatablycoupled to said arm and operative to rotate with respect to said arm ina rotary degree of freedom; a second sensor coupled to said roller andoperative to sense rotary motion of said roller, said second sensoroutputting a second control signal; and a second actuator coupled tosaid roller and operative to output a force to said roller in saidrotary degree of freedom, said second actuator being controlled by asecond actuator signal.
 14. A force feedback control device as recitedin claim 13 wherein said arm member is positioned in said housing andwherein said housing includes an aperture through which said roller isaccessible to a user of said control device.
 15. A force feedbackcontrol device as recited in claim 13 further comprising a third sensorcoupled to said housing, said third sensor detecting when said rollerhas been pushed in a direction substantially orthogonal to a plane ofrotation of said arm member.
 16. A force feedback control device asrecited in claim 13 wherein said roller is operative to rotate about anaxis that is parallel to a plane of rotation of said arm member.
 17. Aforce feedback control device as recited in claim 13 wherein said firstactuator is grounded to said housing and wherein said second actuator iscarried by said arm member.
 18. A method for interfacing with anapparatus using signals provided by a control device, the methodcomprising: providing a first sensor signal from a first sensor to saidapparatus, said first sensor signal being representative of a positionof an arm in a first rotary degree of freedom, wherein said arm is movedin said first rotary degree of freedom by a finger of a user; andproviding a second sensor signal from a second sensor, said secondsensor signal being representative of a position of a roller in a secondrotary degree of freedom, said roller being rotatably coupled to saidarm, wherein said roller is rotated in said second rotary degree offreedom by said finger of said user.
 19. A method as recited in claim 18further comprising receiving a force feedback signal from said apparatusand providing said force feedback signal to an actuator that is coupledto said roller, said force feedback signal being based at least in parton said first sensor signal and said second sensor signal.
 20. A methodas recited in claim 19 wherein said actuator is a first actuator andsaid force feedback signal is a first force feedback signal, and furthercomprising receiving a second force feedback signal from said apparatusand providing said second force feedback signal to a second actuatorthat is coupled to said arm, said second force feedback signal beingbased at least in part on said first sensor signal and said secondsensor signal.
 21. A method as recited in claim 18 wherein saidapparatus includes a host computer including a display screen, wherein auser-controlled cursor is displayed on said display screen having aposition determined by said first sensor signal and said second sensorsignal.
 22. A method as recited in claim 18 wherein said apparatusincludes a host computer displaying a graphical environment including atleast one graphical object and a user controlled cursor, wherein saidcursor is displayed in said graphical environment at a positiondetermined by said first sensor signal and said second sensor signal,and wherein said first and second force feedback signals are determinedat least in part based on an interaction of said cursor with saidgraphical object.